CN109073176A - A kind of operating lamp parameter adjusting method, surgical lighting device and readable storage medium storing program for executing - Google Patents
A kind of operating lamp parameter adjusting method, surgical lighting device and readable storage medium storing program for executing Download PDFInfo
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- 238000013135 deep learning Methods 0.000 claims description 2
- 230000002980 postoperative effect Effects 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 abstract 6
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- 238000003909 pattern recognition Methods 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 238000007675 cardiac surgery Methods 0.000 description 2
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- 210000001835 viscera Anatomy 0.000 description 2
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- 210000000683 abdominal cavity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
- F21S8/00—Lighting devices intended for fixed installation
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V23/00—Arrangement of electric circuit elements in or on lighting devices
- F21V23/003—Arrangement of electric circuit elements in or on lighting devices the elements being electronics drivers or controllers for operating the light source, e.g. for a LED array
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
- H05B47/115—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings
- H05B47/125—Controlling the light source in response to determined parameters by determining the presence or movement of objects or living beings by using cameras
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/258—User interfaces for surgical systems providing specific settings for specific users
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
- F21W2131/00—Use or application of lighting devices or systems not provided for in codes F21W2102/00-F21W2121/00
- F21W2131/20—Lighting for medical use
- F21W2131/205—Lighting for medical use for operating theatres
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of operating lamp parameter adjusting method, surgical lighting device and readable storage medium storing program for executing, by the three dimensional signal for obtaining visual area picture signal or visual area, and then determine that operation information, the operation information include type of surgery or operating stage according to the three dimensional signal of the visual area picture signal or visual area；The parameter strategy of operating lamp is determined according to the operation information later, and adjusts the parameter of the operating lamp according to the parameter strategy.As it can be seen that the present invention can automatically be adjusted the parameter of operating lamp by obtaining the three dimensional signal of visual area picture signal or visual area, the both hands of medical staff have been liberated.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an operating lamp parameter adjusting method, an operating lighting device and a readable storage medium.
Background
Clinically, doctors may perform operations on different biological tissue sites, wherein the operation sites are different, and the requirements on the spot size and the illumination of the operation lamps are different when the doctors face different operation types, such as abdominal cavity operations, heart operations, spine operations and the like. Furthermore, the parameter requirements for the surgical light are different at different stages of the surgery. For example, in the early stage of the operation, doctors mainly perform operations such as disinfection of the operation parts, incision and the like; in surgery, a surgeon often needs to perform delicate operations at the surgical site, such as delicate operations inside a cavity; in the later stage of operation, doctors need to perform operation suture operation; in different stages, the operation objects are different, and parameters such as the size, the illumination intensity and the angle of the needed operating lamp may be different.
Disclosure of Invention
The invention mainly provides an operating lamp parameter adjusting method, an operating illumination device and a readable storage medium, and aims to automatically adjust operating lamp parameters according to acquired operating field image signals or three-dimensional signals of an operating field.
According to a first aspect, there is provided in one embodiment an operating lamp parameter adjustment method comprising:
acquiring an operative field image signal or a three-dimensional signal of an operative field;
determining operation information according to the operation field image signal or the three-dimensional signal of the operation field, wherein the operation information comprises an operation type or an operation stage;
and determining a parameter adjusting strategy of the operating lamp according to the operating information, and adjusting the parameter of the operating lamp according to the parameter adjusting strategy.
According to a second aspect, there is provided in an embodiment a surgical illumination apparatus comprising:
a sensor assembly for generating an image signal of a surgical field or a three-dimensional signal of the surgical field;
a memory for storing a computer program, the computer program comprising program instructions;
the processor is configured to invoke the program instructions to perform the method of any one of claims 1-10; and
and the operation lamp is used for illuminating the operation position according to the parameters.
According to a third aspect, an embodiment provides a computer readable storage medium having stored thereon a computer program comprising program instructions which, when executed by a processor, cause the processor to carry out the method as described above.
According to the operating lamp parameter adjusting method, the operating illumination device and the readable storage medium of the embodiment, the operating information is determined according to the operating field image signal or the three-dimensional signal of the operating field by acquiring the operating field image signal or the three-dimensional signal of the operating field, and the operating information comprises the type or the stage of the operation; and then determining a parameter adjustment strategy of the operating lamp according to the operating information, and adjusting the parameter of the operating lamp according to the parameter adjustment strategy. Therefore, the parameters of the operating lamp can be automatically adjusted by acquiring the image signals of the operating field or the three-dimensional signals of the operating field, and the hands of medical staff are liberated.
Drawings
FIG. 1 is a block diagram of a surgical illumination apparatus according to the present invention;
FIG. 2 is a block diagram of a processor in the surgical illumination apparatus provided in the present invention;
FIG. 3 is a schematic view of an operation area in an operation field image at an initial stage of an operation in the system for adjusting parameters of an operating lamp according to the present invention;
FIG. 4 is a schematic view of an operation area during an incision in the operation light parameter adjusting system provided by the present invention;
FIG. 5 is a schematic view of an operation area after an incision is completed during an operation in the system for adjusting parameters of an operating lamp according to the present invention;
FIG. 6 is a schematic view of an operation area in a later stage of an operation in the parameter adjusting system for an operating lamp according to the present invention;
FIG. 7 is a flowchart of a method for adjusting parameters of an operating lamp according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
As shown in fig. 1 and 2, the surgical lighting device provided by the present invention includes a surgical lamp 30 and a surgical lamp parameter adjusting system. The surgical lamp 30 is used to project a spot of light at the surgical site according to predetermined parameters. The operating lamp parameter adjusting system is used for adjusting the parameters of the operating lamp. The operating lamp parameter adjustment system includes, among other things, a processor 20. The processor 20 includes an image acquisition interface 210, a processing unit 230, and a parameter adjustment unit 220. The image acquisition interface 210 is connected to the parameter adjustment unit 220 through the processing unit 230.
An image acquisition interface 210 for receiving the surgical field image signal or the three-dimensional signal of the surgical field. The operation field image signal is an electric signal of the operation field image transmitted from the outside of the processor, for example, a real-time operation field image signal output by a camera or an operation field image signal output by other electronic equipment is received. The three-dimensional signal of the surgical field is an electric signal which is transmitted from the outside of the processor and contains the three-dimensional characteristics of the surgical field, for example, the three-dimensional signal of the surgical field in real time output by the 3D image sensor or the three-dimensional signal output by other electronic equipment is received.
The processing unit 230 is configured to determine surgical information according to the surgical field image signal or the three-dimensional signal of the surgical field, where the surgical information includes a surgical type or a surgical phase, in other words, the surgical information may include one of the surgical type and the surgical phase, or may include both the surgical type and the surgical phase. The present embodiment is described by taking the example that the operation information includes the operation type and the operation stage. Similarly, the surgical information can be determined according to the surgical field image signal, the surgical information can be determined according to the three-dimensional signal of the surgical field, and the surgical information can be determined according to the surgical field image signal and the three-dimensional signal of the surgical field.
And the parameter adjusting unit 220 is configured to determine a parameter adjusting strategy of the operating lamp according to the operation information, and adjust a parameter of the operating lamp according to the parameter adjusting strategy. Parameters of the surgical lamp include, but are not limited to, illuminance of the surgical lamp, spot size, color temperature, illumination angle, and the like. According to the invention, the current operation type or operation stage is determined according to the operation field image signal or the three-dimensional signal of the operation field, so that the parameter adjustment strategy of the operation lamp is determined, the automatic adjustment of the parameters of the operation lamp is realized, and the hands of medical staff are liberated.
The surgical lamp parameter adjustment system further comprises a sensor assembly 10 for generating an image signal of the surgical field or a three-dimensional signal of the surgical field. For example, the sensor assembly 10 includes a camera assembly for capturing images or video of the surgical field area and outputting it to the processor 20. The camera assembly 10 may be a camera, video camera, or the like. In the present embodiment, the image pickup unit 10 includes an optical lens and an image sensor. The optical lens is used for directing the scenery in the surgical field range. The image sensor is used for imaging the scenery in the surgical field range on the target surface of the image sensor and outputting a real-time electric signal reflecting the content of the surgical field image. The image sensor is electrically connected with the image acquisition interface 210; the image acquisition interface 210 acquires the surgical field image signal output by the image sensor in real time. In other embodiments, the sensor assembly 10 may include a 3D image sensor that acquires three-dimensional signals of the surgical field in real-time using monocular vision, binocular vision, multi-ocular vision, structured light, time of flight (ToF), or triangulation. For example, using a 3D distance sensor or binocular (camera) ranging, etc. The three-dimensional signal of the surgical field can be synthesized into a three-dimensional image of the surgical field, the surgical information can be determined after the three-dimensional image is obtained by modeling the three-dimensional signal, and the preset characteristic information in the surgical field can also be obtained from the three-dimensional signal.
Specifically, the determining, by the processing unit 230, the surgical information according to the surgical field image signal or the three-dimensional signal of the surgical field includes: acquiring preset characteristic information in the operation field image or the three-dimensional signal according to the operation field image signal or the three-dimensional signal of the operation field; and determining operation information corresponding to the characteristic information according to the preset characteristic information. That is, predetermined feature information, such as depth information, color information, incision size, body posture information, bed posture information, brightness information, and body information of a predetermined incision, is searched for in the operation field image or the three-dimensional signal acquired in real time. The three-dimensional signals can be used for searching characteristic information with three-dimensional characteristics, such as incision depth information, incision size, human posture information, operating table placing position information, human body information and the like. The human body information at least comprises one of human body structure information and organ dynamic characteristic information. The processing unit 230 processes and judges the characteristic information, and determines the current operation type and operation stage according to the judgment result.
The parameters of the operation lamps needed to be set by medical staff in different operation types are different, and the parameters of the operation lamps needed to be set in different operation stages are also different under the same operation type. The operating lamp parameter adjusting system can automatically identify the current operation type and adjust the operating lamp parameters, then identify the operation stage, and further adjust the operating lamp parameters on the basis of the operation type. The specific process is shown in the following examples.
The processor 20 further includes a storage unit (not shown in the figure), a learning unit 260. The processing unit 230 includes a pattern recognition unit 231, a depth recognition unit 232, and a color processing unit 233.
The storage unit stores human posture information corresponding to the placing position information of the operating table, in other words, the storage unit stores a corresponding relation (such as a corresponding table) between the placing position information of the operating table and the human posture information, and can also include a corresponding relation between the human posture information and the operation type.
The mode identification unit 231 is used for acquiring human body posture information and operating bed placing position information in the operation field image or the three-dimensional signal according to the operation field image signal or the three-dimensional signal of the operation field; for example, searching preset human body posture information and operation bed placing position information in operation field images or three-dimensional signals acquired in real time; determining an operation type corresponding to the human body posture information and the operating bed placing position information according to the human body posture information and the operating bed placing position information; for example, preset human body posture information corresponding to the placing position information of the operating bed is searched according to the current placing position information of the operating bed; and judging whether the current human body posture information is matched with the searched preset human body posture information. Different operation types may require the patient to present different postures, such as sitting posture, lying posture, etc., and the corresponding operation bed is different in the placing posture. If the current body posture information matches the found preset body posture information, the patient is considered to be on the operating bed and waiting for the operation, and the mode recognition unit 231 preliminarily recognizes the operation part according to the current body posture, so as to obtain the current operation type.
The status of the surgical lights required for different surgical sites varies, for example, spinal surgery requires a small spot, high intensity surgical light. The parameter adjusting unit 220 determines a parameter adjusting strategy of the operating lamp according to the current operation type, and adjusts the parameter of the operating lamp according to the parameter adjusting strategy. For example, if the type of surgery is cardiac surgery, the mode of cardiac surgery is adjusted.
Since the types of surgery that can be determined from the body posture information are not many, the pattern recognition unit 231 also has a function of further recognizing the surgical site. For example, the mode recognition unit 231 acquires brightness information and human body information in the surgical field image according to the surgical field image signal; and determining the operation type corresponding to the brightness information and the human body information according to the brightness information and the human body information. Specifically, the pattern recognition unit 231 searches predetermined brightness information, as well as human body structure information and organ dynamic feature information in the operation field image acquired in real time; communicating pixel points of which the brightness difference does not exceed a preset value in the brightness information of the current surgical field image into a region, and comparing the average brightness value of each communicated region to obtain the region with the maximum average brightness value; the region with the largest average brightness value is considered as the light spot formed by the surgical lamp irradiating the patient, and the surgical site is definitely within the light spot (the surgical lamp is aligned with the surgical site and can be operated by the medical staff, and can also be operated by the parameter adjusting unit 220). Therefore, the current surgical site is known from the body structure information and/or organ dynamic feature information in the region having the largest average brightness value, and the current surgical type is obtained. The preset value can be determined according to the actual condition of the operating lamp, and the more uniform the light spot of the operating lamp is, the smaller the preset value can be. The human body structure information is information reflecting human body structure characteristics, such as human body part information, tissue and organ information, and the like. The human body part information is information reflecting the external structural features of the human body, for example: head, abdomen, back, legs, etc. The tissue organ information is information reflecting structural characteristics of tissues and organs inside a human body, for example: heart, intestine, lung, liver, spleen, kidney, and spine. The operation position is determined by the human body structure information in the light spot, and the accuracy of operation type judgment is further improved. Of course, different operation types may be performed on the same operation site, for example, an eye operation, an eyeball operation, or a lower eyelid operation, so that the operation type is determined according to the dynamic characteristic information of the facula internal organ, and the accuracy of operation type judgment can be further improved. The dynamic characteristic information of the viscera comprises blink, heart beating, lung expansion and contraction, gastrointestinal peristalsis and the like, and all the dynamic characteristic information can provide basis for determining the type of the operation.
Of course, the judgment of the operation type can also be determined according to the medical equipment information and/or the medical instrument information in the operation field image. That is, the characteristic information includes medical equipment information and/or medical instrument information, such as a ventilator, a scalpel, surgical scissors, a retractor, and the like.
The invention utilizes the sensor component 10 to collect the operation field image or the three-dimensional signal of the operation field in real time and transmits the image in the form of an electric signal (the operation field image signal or the three-dimensional signal), the operation field image in the pre-operation period is a panoramic large-scale image, the head, the foot and other human body structure information of a human body can be identified according to the image, the position of the operation bed and the position irradiated by the light spot of the operation lamp are combined to preliminarily judge where the target area of the operation is, and then the parameter of the operation lamp is adjusted according to the judged operation position, thereby realizing the automatic rough adjustment of the parameter of the operation lamp.
After the parameters of the operation lamp are adjusted according to the operation type, the operation stage of the operation type can be further judged.
In this embodiment, the depth-of-field recognition unit 232 is configured to obtain the depth information of the incision in the surgical field image or the three-dimensional signal according to the surgical field image signal or the three-dimensional signal of the surgical field, for example, search for the depth information of the predetermined incision in the real-time obtained surgical field image or the three-dimensional signal, and calculate the variation value of the depth information of the incision in real time; and determining the operation stage of the current operation according to the change value of the current depth information or the change trend of the current depth information, wherein the operation stage comprises an early operation stage, a middle operation stage and a late operation stage. Taking the example that the depth-of-field recognition unit 232 determines the corresponding surgery stage according to the change value of the current depth information, if the absolute value of the change value of the depth information is less than or equal to the first predetermined value from the beginning of the surgery to the current, the current surgery is considered to be in the early stage of the surgery; if the change value of the depth information is continuously detected to be larger than a first preset value from the beginning of the operation to the current time, the current operation is considered to be in the middle stage of the operation; and if the change value of the depth information is a negative value and the absolute value is greater than a second preset value, the current operation is considered to be in the later operation stage. As shown in fig. 3-6, a is the surgical area surrounded by the sterile drape, B is the light spot, and C is the incision. When the surgical stage is determined, the processing unit 230 may process the image in the surgical field image, so that the data processing amount can be reduced and the response speed can be increased. The processing unit 230 searches predetermined color information in the surgical field image acquired in real time; judging whether sterile single color (such as light green) exists in the color information of the current surgical field image, communicating the pixels with the sterile single color to form an area, wherein the area is usually an annular area, judging whether the color of human skin exists in the annular area, and if so, determining that the part without the sterile single color in the annular area is the surgical area.
Fig. 3 is a schematic view of the operation area in the operation field image at the early stage of the operation, i.e. the disinfection stage, when there is no incision or the incision is very small, the depth information variation value is less than or equal to the first predetermined value. Fig. 4 is a schematic view of the operation region during the incision operation in the middle of the operation, and the depth information change value is increasing. Fig. 5 is a schematic view of an operation region in an operation field image during a fine operation after an incision is completed in the middle of an operation, where depth information is basically unchanged and a change value of the depth information from the beginning of the operation to the current is the largest. Fig. 6 is a schematic view of the operation region in the operation field image during the suturing operation in the later stage of the operation, in which the variation value of the depth information is a negative value and the absolute value is greater than a second predetermined value. The depth of the incision is basically 0, increased, basically unchanged and reduced along with the preoperative period, the intraoperative period and the postoperative period, so that the operation stage is judged to be accurate and reliable. The first predetermined value and the second predetermined value may be determined according to a type of surgery.
Taking the example that the depth-of-field recognition unit 232 determines the operation stage of the current operation according to the variation trend of the current depth information, the depth-of-field recognition unit 232 continuously compares the current depth information with the previous depth information n times within a predetermined time period, and if the current depth information continuously compares n times with the previous depth information, the variation trend is an increasing trend, and the current operation is considered to be in the middle stage of the operation; if the current depth information of the continuous n times is smaller than the last depth information, the change trend is a reduction trend, and the current operation is considered to be in the later stage of the operation; if the current depth information of n times is the same as the previous depth information and the current depth information is basically 0, the current operation is considered to be in the early stage of the operation; and if the current depth information of the continuous n times is the same as the last depth information and the current depth information is greater than or equal to a third preset value, the current operation is considered to be in the middle stage of the operation. Wherein n is greater than or equal to 3, and the predetermined time period and the third predetermined value can be set according to actual needs.
The depth-of-field recognition unit 232 can also establish a three-dimensional model of the surgical field according to the three-dimensional signal of the surgical field; and determining the size of the incision according to the three-dimensional model, and determining the operation stage of the current operation according to the size of the incision. Determining the size of the incision according to the three-dimensional model, for example, obtaining depth information of each point in the three-dimensional model, calculating a difference between the depth information of each point at present and the depth information of each point before the operation starts, and connecting points with the difference larger than a fourth predetermined value into an area, wherein the area is the incision area, so as to determine the size of the incision. The depth of the incision is larger than that of the surrounding area, so that the incision can be identified from the three-dimensional model according to the depth information, and the accurate incision size can be obtained. The fourth predetermined value may be set according to actual conditions.
After the depth-of-field recognition unit 232 recognizes the surgery stage of the current surgery, the parameter adjustment unit 220 adjusts the illumination of the surgical lamp to a predetermined first illumination when the current surgery is in the pre-surgery stage.
When the current operation is in the middle of the operation, the parameter adjusting unit 220 adjusts the illumination of the operation lamp to a second illumination, and the second illumination changes according to the change of the depth information of the incision; for example, the depth information of the incision is acquired in real time, the parameters of the operating lamp are adjusted according to the depth information of the incision, and at least the illumination of the operating lamp is increased along with the increase of the depth, so that the medical staff does not need to set manually.
When the current operation is in the later stage of the operation, the parameter adjusting unit 220 adjusts the illumination of the operation lamp to a third illumination, and the third illumination changes according to the change of the depth information of the incision; for example, the depth information of the incision is acquired in real time, and the parameters of the surgical lamp are adjusted according to the depth information of the incision, so that at least the illumination of the surgical lamp is reduced along with the reduction of the depth. And the first illumination and the third illumination are both smaller than or equal to the second illumination. The first illumination and the third illumination are in a low illumination range relative to the illumination range of the operating lamp. The low illumination range is a relative concept, for example, the illumination range of the operating lamp can be divided into a high illumination range and a low illumination range, or the high illumination range, a medium illumination range and a low illumination range, and the second illumination can be in the high illumination range or the medium illumination range.
In this embodiment, the color processing unit 233 is configured to obtain color information in the surgical field image according to the surgical field image signal; for example, predetermined color information is searched in a surgical field image acquired in real time; determining the operation stage of the current operation according to the color information; for example, according to the color information, the area of the blood track area in the operation field image is determined; and determining the size of the incision according to the area of the bloodstain area, and determining the operation stage of the current operation according to the size of the incision. Specifically, the color processing unit 233 determines whether the color information of the current surgical field image has red color; if the color information does not have red color, the current operation is considered to be in the preoperative period; if the color information has red color, the current operation is considered to be in the middle stage or the later stage of the operation. Whether the incisions exist or not is judged through the red color, and the operation stage is judged accurately and reliably. Further, the color processing unit 233 is further configured to connect red pixel points in the color information of the current surgical field image into a region, where the region is a blood track region; the area of the blood stain area is calculated and the incision size is determined therefrom. After the size of the incision and the operation stage are obtained, parameters such as the spot size, the illumination and the like of the operation lamp can be accurately adjusted. In other embodiments, the depth recognition unit 232 is replaced by the color processing unit 233.
The parameter adjusting unit 220 is further configured to adjust the spot size of the operating lamp to a predetermined first spot value when the current operation is in the pre-operation period. The spot value reflects the size of a spot formed by the operating lamp irradiating the human body or the operating bed. The spot value of this embodiment is the size of a spot formed on the operating bed irradiated by the operating lamp at a distance of one meter, and is expressed by a diameter.
When the current operation is in the middle of the operation, the light spot size of the operation lamp is adjusted to be a second light spot value, and the second light spot value is changed according to the change of the incision size; for example, the size of the incision is obtained in real time, and parameters of the surgical lamp are adjusted according to the size of the incision, so that at least the spot size or the illumination of the surgical lamp is increased along with the increase of the size of the incision.
When the current operation is in the later stage of the operation, the light spot size of the operation lamp is adjusted to a third light spot value, and the third light spot value is changed according to the change of the incision size; for example, the size of the incision is obtained in real time, and parameters of the surgical lamp are adjusted according to the size of the incision, so that at least the spot size or the illumination intensity of the surgical lamp is reduced along with the reduction of the size of the incision.
The second light spot value and the third light spot value are both smaller than or equal to the first light spot value, and the first light spot value is in a large light spot range relative to the light spot range of the operating lamp. The large spot range is also a relative concept, for example, the spot range of the operating lamp can be divided into a large spot range and a small spot range, or a large spot range, a medium spot range and a small spot range, and the second spot value and the third spot value are in the small spot range or the medium spot range.
For example, when the operation is performed in the pre-operation stage, i.e., the disinfection stage, as shown in fig. 3, the depth information is small, the parameter adjustment unit 220 controls the illumination of the operation lamp to be low, and the light spot is a large light spot. When the operation is in the incision stage in the middle of the operation, as shown in fig. 4, the incision becomes larger and deeper gradually, and the parameter adjusting unit 220 controls the spot size and the illumination of the operating lamp to increase with the increase of the incision size and the increase of the depth. When the operation is in the fine operation stage of the middle stage of the operation, as shown in fig. 5, the size and the deep part of the incision are basically unchanged, the parameter adjusting unit 220 controls the spot size of the operation lamp to be basically kept consistent with the size of the opening, the harm of the reflection light of external instruments to human eyes can be reduced, and the illumination keeps proper illumination according to the depth information. When the operation is in the later stage of the operation, i.e., the suture stage, as shown in fig. 6, the parameter adjusting unit 220 controls the illumination and the light spot of the operation lamp to decrease with the decrease of the incision size and the decrease of the depth. The automatic adjustment of the parameters of the operating lamp along with the change of the operation stage is realized.
The operation type and the operation stage can be judged simultaneously, sequentially or in real time, but the priority of the parameter adjustment strategy of the operation lamp determined according to the operation type is higher than that of the parameter adjustment strategy of the operation lamp determined according to the operation stage.
The operating lamp parameter adjusting system further comprises a clinical library 40, and the processor 20 further comprises a learning unit 260. The clinical library 40 is configured to store parameter adjustment strategies of the surgical lamps corresponding to a plurality of pieces of surgical information, and specifically, store a set of surgical lamp parameters corresponding to each surgical type and a corresponding parameter adjustment process, and a set of surgical lamp parameters corresponding to each surgical stage and a corresponding parameter adjustment process in the same surgical type. Because the habits and preferences of various doctors are different, the parameter adjustment strategies stored in the clinical library 40 are not necessarily the most suitable, therefore, a learning unit 260 is arranged to record the parameter adjustment strategies of the operating lamps in the actual operation process, namely, the actual parameters of the operating lamps in the current operation type or operation stage are recorded, the parameter adjustment strategies of the operating lamps in the clinical library 40 are dynamically adjusted through deep learning, and the corresponding relation between the doctors and the parameter adjustment strategies of the operating lamps is established, so that the operating lamps not only can automatically adjust the parameters according to the operation type and the operation stage, but also can finely adjust the parameters according to different doctors; the function of reducing the times of adjusting the operating lamp by the doctor and protecting the vision of the doctor in the operation process is achieved.
Based on the operating lamp parameter adjusting system provided by the above embodiment, the operating lamp parameter adjusting method provided by the invention is shown in fig. 7, and comprises the following steps:
step 01, the image acquisition interface acquires an image signal of the surgical field or a three-dimensional signal of the surgical field, and specifically acquires the image signal of the surgical field or the three-dimensional signal of the surgical field output by the sensor assembly in real time.
Step 02, the processing unit determines operation information according to the operation field image signal or the three-dimensional signal of the operation field, wherein the operation information comprises an operation type or an operation stage. Specifically, the processing unit acquires preset characteristic information in the operation field image or the three-dimensional signal according to the operation field image signal or the three-dimensional signal of the operation field; determining operation information corresponding to the characteristic information according to the characteristic information; for example, searching predetermined characteristic information in a surgical field image or a three-dimensional signal acquired in real time; and processing and judging the characteristic information, and obtaining the current operation information according to the judgment result.
The characteristic information comprises human body posture information and operation bed placing position information, and the operation information is an operation type. Step 02 specifically comprises:
the mode identification unit acquires human body posture information and operating bed placing position information in the operation field image or the three-dimensional signal according to the operation field image signal or the three-dimensional signal of the operation field; determining an operation type corresponding to the human body posture information and the operating bed placing position information according to the human body posture information and the operating bed placing position information; for example, preset human body posture information corresponding to the placing position information of the operating bed is searched according to the current placing position information of the operating bed; judging whether the current human body posture information is matched with the searched preset human body posture information or not; and if the operation types are matched, the current operation type is obtained according to the human body posture information.
The characteristic information may further include: brightness information, and human body structure information and/or organ dynamic characteristic information; the surgical information is a surgical type. Step 02 specifically comprises:
the mode identification unit acquires brightness information and human body information in the surgical field image according to the surgical field image signal, wherein the human body information comprises human body structure information or organ dynamic characteristic information; determining the operation type corresponding to the brightness information and the human body information according to the brightness information and the human body information; for example, pixel points, the brightness difference of which does not exceed a preset value, in the brightness information of the current surgical field image are communicated into a region; comparing the average brightness value of each communicated region to obtain a region with the maximum average brightness value; and obtaining the current operation type according to the human body structure information or the organ dynamic characteristic information in the area with the maximum average brightness value.
The characteristic information may also include depth information of the incision, the surgical information being the surgical stage at which it is located. Step 02 specifically comprises:
the depth-of-field identification unit acquires the depth information of the incision in the surgical field image or the three-dimensional signal according to the surgical field image signal or the three-dimensional signal of the surgical field; calculating the change value of the depth information of the incision in real time; and determining an operation stage corresponding to the change value of the depth information of the incision or the change trend of the current depth information according to the change value of the depth information of the incision or the change trend of the current depth information, wherein the operation stage comprises an operation early stage, an operation middle stage and an operation late stage.
The characteristic information may also include color information and incision size, and the surgical information is the surgical stage. Step 02 specifically comprises:
the color processing unit acquires color information in the surgical field image according to the surgical field image signal; determining the operation stage of the current operation according to the color information; for example, according to the color information, the area of the blood track area in the operation field image is determined; and determining the size of the incision according to the area of the bloodstain area, and determining the operation stage of the current operation according to the size of the incision. Specifically, the color processing unit judges whether the color information of the current surgical field image has red color; if the color information does not have red color, the current operation is considered to be in the preoperative period; if the color information has red color, the current operation is considered to be in the middle stage or the later stage of the operation; connecting red pixel points in the color information of the current surgical field image into a region, wherein the region is a blood track region; the area of the blood stain area is calculated and the incision size is determined therefrom.
And 03, determining a parameter adjustment strategy of the operating lamp by the processor according to the operation information. The method specifically comprises the following steps:
when the current operation is in the early stage of the operation, the parameter adjusting unit adjusts the illumination of the operation lamp to be a preset first illumination, and adjusts the spot size of the operation lamp to be a preset first spot value. The spot value reflects the size of a spot formed by the operating lamp irradiating the human body or the operating bed. The spot value of this embodiment is the size of a spot formed on the operating bed irradiated by the operating lamp at a distance of one meter, and is expressed by a diameter.
When the current operation is in the middle of the operation, the parameter adjusting unit adjusts the illumination of the operation lamp to be a second illumination which changes according to the change of the depth information of the incision; acquiring the depth information of the incision in real time, and adjusting the parameters of the operating lamp according to the depth information of the incision to at least increase the illumination of the operating lamp along with the increase of the depth; adjusting the light spot size of the operating lamp to a second light spot value, wherein the second light spot value is changed according to the change of the incision size; for example, the incision size is obtained in real time, and the parameters of the surgical lamp are adjusted according to the incision size, so that the light spot size of the surgical lamp at least increases along with the increase of the incision size.
When the current operation is in the later stage of the operation, the illumination of the operation lamp is adjusted to be third illumination, and the third illumination is changed according to the change of the depth information of the incision; for example, the depth information of the incision is acquired in real time, and the parameters of the operating lamp are adjusted according to the depth information of the incision, so that at least the illumination of the operating lamp is reduced along with the reduction of the depth; adjusting the light spot size of the operating lamp to a third light spot value, wherein the third light spot value is changed according to the change of the incision size; for example, the incision size is obtained in real time, and parameters of the surgical lamp are adjusted according to the incision size, so that at least the light spot size of the surgical lamp is reduced along with the reduction of the incision size. The second light spot value and the third light spot value are both smaller than or equal to the first light spot value, and the first light spot value is in a large light spot range relative to the light spot range of the operating lamp. The large spot range is also a relative concept, for example, the spot range of the operating lamp can be divided into a large spot range and a small spot range, or a large spot range, a medium spot range and a small spot range, and the second spot value and the third spot value are in the small spot range or the medium spot range.
Since the specific process of adjusting parameters of the operating lamp and the technical effect achieved by the same are described in detail in the embodiment of the system, they are not described in detail herein.
Reference is made herein to various exemplary embodiments. However, those skilled in the art will recognize that changes and modifications may be made to the exemplary embodiments without departing from the scope hereof.
Additionally, as will be appreciated by one skilled in the art, the principles herein may be reflected in a computer program product on a computer readable storage medium, which is pre-loaded with computer readable program code. Any tangible, non-transitory computer-readable storage medium may be used, including magnetic storage devices (hard disks, floppy disks, etc.), optical storage devices (CD-ROMs, DVDs, Blu Ray disks, etc.), flash memory, and/or the like. These computer program instructions may be loaded onto a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions which execute on the computer or other programmable data processing apparatus create means for implementing the functions specified. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including means for performing the specified functions, such as shown in fig. 1, the surgical lighting device may further include a memory 50, the memory 50 storing a computer program that includes program instructions; the processor 20 is configured to invoke the program instructions to perform the operating lamp parameter adjustment method as described above. The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified.
While the principles herein have been illustrated in various embodiments, many modifications of structure, arrangement, proportions, elements, materials, and components particularly adapted to specific environments and operative requirements may be employed without departing from the principles and scope of the present disclosure. The above modifications and other changes or modifications are intended to be included within the scope of this document.
The foregoing detailed description has been described with reference to various embodiments. However, one skilled in the art will recognize that various modifications and changes may be made without departing from the scope of the present disclosure. Accordingly, the disclosure is to be considered in an illustrative and not a restrictive sense, and all such modifications are intended to be included within the scope thereof. Also, advantages, other advantages, and solutions to problems have been described above with regard to various embodiments. However, the benefits, advantages, solutions to problems, and any element(s) that may cause any element(s) to occur or become more pronounced are not to be construed as a critical, required, or essential feature or element of any or all the claims. As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, system, article, or apparatus. Furthermore, the term "coupled," and any other variation thereof, as used herein, refers to a physical connection, an electrical connection, a magnetic connection, an optical connection, a communicative connection, a functional connection, and/or any other connection.
Those skilled in the art will recognize that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the invention. Accordingly, the scope of the invention should be determined only by the claims.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (13)
1. A method for adjusting parameters of an operating lamp, comprising:
acquiring an operative field image signal or a three-dimensional signal of an operative field;
determining operation information according to the operation field image signal or the three-dimensional signal of the operation field, wherein the operation information comprises an operation type or an operation stage;
and determining a parameter adjusting strategy of the operating lamp according to the operating information, and adjusting the parameter of the operating lamp according to the parameter adjusting strategy.
2. The method of claim 1, wherein determining surgical information from the surgical field image signals or three-dimensional signals of a surgical field comprises:
acquiring preset characteristic information in the operation field image or the three-dimensional signal according to the operation field image signal or the three-dimensional signal of the operation field;
and determining operation information corresponding to the characteristic information according to the preset characteristic information.
3. The method of claim 2, wherein the acquiring of the predetermined characteristic information in the surgical field image or the three-dimensional signal according to the surgical field image signal or the three-dimensional signal of the surgical field, and the determining of the surgical information corresponding to the characteristic information according to the predetermined characteristic information, comprises:
acquiring the depth information of the incision in the surgical field image or the three-dimensional signal according to the surgical field image signal or the three-dimensional signal of the surgical field;
calculating a variation value of the depth information of the incision;
and determining an operation stage corresponding to the change value of the depth information of the incision according to the change value of the depth information of the incision, wherein the operation stage comprises an operation early stage, an operation middle stage or an operation late stage.
4. The method of claim 3, wherein determining a parameter adjustment strategy for an operating lamp based on the surgical information and adjusting a parameter of the operating lamp based on the parameter adjustment strategy comprises:
when the current operation is in the early stage of the operation, the illumination of the operation lamp is adjusted to be a first illumination;
when the current operation is in the middle of the operation, the illumination of the operation lamp is adjusted to be second illumination, and the second illumination is changed according to the change of the depth information of the incision; or,
when the current operation is in the later stage of the operation, the illumination of the operation lamp is adjusted to be third illumination, and the third illumination is changed according to the change of the depth information of the incision;
wherein the first and third illumination intensities are both less than or equal to the second illumination intensity.
5. The method of claim 2, wherein the acquiring predetermined characteristic information in the surgical field image according to the surgical field image signal, and determining the surgical information corresponding to the characteristic information according to the predetermined characteristic information comprises:
acquiring color information in the surgical field image according to the surgical field image signal;
and determining the operation stage of the current operation according to the color information, wherein the operation stage comprises an preoperative stage, an intraoperative stage or an postoperative stage.
6. The method of claim 5, wherein said determining a surgical stage at which a current surgery is based on said color information comprises:
determining the area of a blood track region in the surgical field image according to the color information;
and determining the size of an incision according to the area of the bloodstain area, and determining the operation stage of the current operation according to the size of the incision.
7. The method of claim 2, wherein the obtaining predetermined characteristic information in the three-dimensional signal according to the three-dimensional signal of the surgical field and determining the surgical information corresponding to the characteristic information according to the predetermined characteristic information comprises:
establishing a three-dimensional model of the surgical field according to the three-dimensional signal of the surgical field;
and determining the size of the incision according to the three-dimensional model, and determining the operation stage of the current operation according to the size of the incision.
8. The method of claim 6, wherein determining a parameter adjustment strategy for an operating lamp based on the surgical information and adjusting a parameter of the operating lamp based on the parameter adjustment strategy comprises:
when the current operation is in the early stage of the operation, the light spot size of the operation lamp is adjusted to be a first light spot value;
when the current operation is in the middle of the operation, the light spot size of the operation lamp is adjusted to be a second light spot value, and the second light spot value is changed according to the change of the incision size; or,
when the current operation is in the later stage of the operation, the light spot size of the operation lamp is adjusted to be a third light spot value, and the third light spot value is changed according to the change of the incision size;
wherein the second spot value and the third spot value are both less than or equal to the first spot value.
9. The method of claim 2, wherein the acquiring of the predetermined characteristic information in the surgical field image or the three-dimensional signal according to the surgical field image signal or the three-dimensional signal of the surgical field, and the determining of the surgical information corresponding to the characteristic information according to the predetermined characteristic information, comprises:
acquiring human body posture information and operating bed placing position information in the operation field image or the three-dimensional signal according to the operation field image signal or the three-dimensional signal of the operation field;
and determining the operation type corresponding to the human body posture information and the operating bed placing position information according to the human body posture information and the operating bed placing position information.
10. The method of claim 2, wherein the acquiring predetermined characteristic information in the surgical field image according to the surgical field image signal, and determining the surgical information corresponding to the characteristic information according to the predetermined characteristic information comprises:
acquiring brightness information and human body information in the surgical field image according to the surgical field image signal, wherein the human body information comprises human body structure information or organ dynamic characteristic information;
and determining the operation type corresponding to the brightness information and the human body information according to the brightness information and the human body information.
11. The method of claim 1, further comprising:
the parameter adjustment strategy of the operation lamp corresponding to a plurality of operation information is stored in a clinical library;
recording the actual parameters of the operation lamp in the current operation type or operation stage, and dynamically adjusting the parameter adjustment strategy of the operation lamp stored in the clinical library through deep learning.
12. A surgical illumination device, comprising:
a sensor assembly for generating an image signal of a surgical field or a three-dimensional signal of the surgical field;
a memory for storing a computer program, the computer program comprising program instructions;
the processor is configured to invoke the program instructions to perform the method of any one of claims 1-11; and
and the operation lamp is used for illuminating the operation position according to the parameters.
13. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method according to any of claims 1-11.
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| CN109073176B CN109073176B (en) | 2021-07-02 |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109073176B (en) | 2021-07-02 |
| EP3842689A4 (en) | 2021-11-03 |
| EP3842689A1 (en) | 2021-06-30 |
| WO2020006766A1 (en) | 2020-01-09 |
| EP3842689B1 (en) | 2024-05-15 |
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